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Robot Execution Failures

Summary: This dataset contains force and torque measurements on a robot after failure detection. Each failure is characterized by 15 force/torque samples collected at regular time intervals.

Parameter Value
Name Robot Execution Failures
Labeled Yes
Time Series Yes
Simulation No
Missing Values No
Dataset Characteristics Multivariate, Time-Series
Feature Type Integer
Associated Tasks Classification
Number of Instances 463
Number of Features 90
Date Donated 1999-04-22
Source UCI Machine Learning Repository

Dataset Information

The donation includes 5 datasets, each of them defining a different learning problem:

* LP1: failures in approach to grasp position
* LP2: failures in transfer of a part
* LP3: position of part after a transfer failure
* LP4: failures in approach to ungrasp position
* LP5: failures in motion with part

In order to improve classification accuracy, a set of five feature transformation strategies (based on statistical summary features, discrete Fourier transform, etc.) was defined and evaluated. This enabled an average improvement of 20% in accuracy. The most accessible reference is [Seabra Lopes and Camarinha-Matos, 1998].

Tags

Robotics, Failure detection, Force and torque data, Time-series analysis, Machine learning

References

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